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ArduSub: change rangefinder msg for common one

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This commit is contained in:
Pierre Kancir 2017-05-30 12:32:18 +02:00 committed by Francisco Ferreira
parent e124cddeeb
commit 57ef598c07
2 changed files with 1 additions and 16 deletions
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16
ArduSub/GCS_Mavlink.cpp
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@ -339,20 +339,6 @@ void NOINLINE Sub::send_current_waypoint(mavlink_channel_t chan)
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
}
#if RANGEFINDER_ENABLED == ENABLED
void NOINLINE Sub::send_rangefinder(mavlink_channel_t chan)
{
// exit immediately if rangefinder is disabled
if (!rangefinder.has_data_orient(ROTATION_PITCH_270)) {
return;
}
mavlink_msg_rangefinder_send(
chan,
rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f,
rangefinder.voltage_mv_orient(ROTATION_PITCH_270) * 0.001f);
}
#endif
/*
send RPM packet
*/
@ -560,7 +546,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
case MSG_RANGEFINDER:
#if RANGEFINDER_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RANGEFINDER);
sub.send_rangefinder(chan);
send_rangefinder(sub.rangefinder);
CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR);
send_distance_sensor_downward(sub.rangefinder);
#endif

1
ArduSub/Sub.h
View File

@ -484,7 +484,6 @@ private:
void send_radio_out(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);
void send_current_waypoint(mavlink_channel_t chan);
void send_rangefinder(mavlink_channel_t chan);
#if RPM_ENABLED == ENABLED
void send_rpm(mavlink_channel_t chan);
void rpm_update();